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The answer, at least a partial one: eggs. Eggs, specifically egg yolks, play several roles in homemade ice cream. You can make tasty ice cream without them, but there's a reason that almost every recipe published in the last 50 years calls for them. After water, egg yolks are mostly fat and protein.
This yields a rich, dense ice cream. Most of the Ben & Jerry's cookbook recipes use raw, whole beaten eggs, plus two parts heavy cream to one part milk. This yields an airy, light, almost mousse-like ice cream. Regardless of how you do it, you still have to age the ice cream in your freezer for 12-24 hrs. before you get a good finished product.